Device and method for position measurement
First Claim
1. A position measuring device comprising:
- an image acquisition section for acquiring a series of photographed images changing continuously or changing little by little along with position displacement relative to an object to be photographed;
a positional relationship measurement section for measuring position displacement and posture change of the image acquisition section;
a feature extraction section for extracting feature points from the photographed images obtained with the image acquisition section;
a feature point tracking section for tracking the feature points by searching corresponding points corresponding to the feature points on a plurality of the photographed images;
an image selection section for selecting an image to be precessed from the series of photographed images based on a measurement result made with the positional relationship measurement section; and
a position measurement section for measuring the photographing position and photographing posture of the image acquisition section or position of the photographed object based on the image to be processed selected with the image selection section.
1 Assignment
0 Petitions
Accused Products
Abstract
A position measurement device is provided that can precisely measure the photographing position or posture of a photographing device or the coordinates of an object based on sequentially changing photographed images. A position measuring device 100 of the invention comprises: an image acquisition section 2 for acquiring a series of photographed images changing continuously or little by little along with position displacement relative to an object to be photographed; a positional relationship measurement section 9 for measuring position displacement and posture change of the image acquisition section 2; a feature extraction section 3 for extracting feature points from the photographed images obtained with the image acquisition section 2; a feature point tracking section 4 for tracking the feature points by searching corresponding points corresponding to the feature points on a plurality of the photographed images; an image selection section 61 for selecting an image to be processed from the series of photographed images based on a measurement result made with the positional relationship measurement section 9; and a position measurement section 7 for measuring the photographing position and the photographing posture of the image acquisition section 2 based on the image to be processed selected with the image selection section 61.
-
Citations
40 Claims
-
1. A position measuring device comprising:
-
an image acquisition section for acquiring a series of photographed images changing continuously or changing little by little along with position displacement relative to an object to be photographed;
a positional relationship measurement section for measuring position displacement and posture change of the image acquisition section;
a feature extraction section for extracting feature points from the photographed images obtained with the image acquisition section;
a feature point tracking section for tracking the feature points by searching corresponding points corresponding to the feature points on a plurality of the photographed images;
an image selection section for selecting an image to be precessed from the series of photographed images based on a measurement result made with the positional relationship measurement section; and
a position measurement section for measuring the photographing position and photographing posture of the image acquisition section or position of the photographed object based on the image to be processed selected with the image selection section. - View Dependent Claims (5, 15, 21, 25, 29, 33)
-
-
2. A position measuring device comprising:
-
an image acquisition section for acquiring a series of photographed images changing continuously or changing little by little along with position displacement relative to an object to be photographed;
a positional relationship measurement section for measuring displacement and posture change of the image acquisition section;
a feature extraction section for extracting feature points from the photographed images obtained with the image acquisition section;
a feature point tracking section for tracking the feature points by searching corresponding points corresponding to the feature points on a plurality of the photographed images;
a feature point selection section for selecting feature points to be processed from the feature points extracted from the photographed images based on a measurement result made with the positional relationship measurement section; and
a position measurement section for measuring the photographing position and photographing posture of the image acquisition section or position of the photographed object based on the image to be processed selected with the image selection section. - View Dependent Claims (7, 9, 11, 13, 17, 19, 22, 26, 30, 34)
-
-
3. A position measuring device comprising:
-
an image acquisition section for acquiring a series of photographed images changing continuously or changing little by little along with position displacement relative to an object to be photographed;
a positional relationship measurement section for measuring position displacement and posture change of the object to be photographed;
a feature extraction section for extracting feature points from the photographed images obtained with the image acquisition section;
a feature point tracking section for tracking the feature points by searching corresponding points corresponding to the feature points on a plurality of the photographed images;
an image selection section for selecting an image to be processed from the series of photographed images based on a measurement result made with the positional relationship measurement section; and
a position measurement section for measuring the photographing position and photographing posture of the image acquisition section or position of the photographed object based on the image to be processed selected with the image selection section. - View Dependent Claims (6, 16, 23, 27, 31, 35)
-
-
4. A position measuring device comprising:
-
an image acquisition section for acquiring a series of photographed images changing continuously or changing little by little along with position displacement relative to an object to be photographed;
a positional relationship measurement section for measuring position displacement and posture change of the object to be photographed;
a feature extraction section for extracting feature points from the photographed images obtained with the image acquisition section;
a feature point tracking section for tracking the feature points by searching corresponding points corresponding to the feature points on a plurality of the photographed images;
a feature point selection section for selecting processing feature point to be processed from the photographed images based on a measurement result made with the positional relationship measurement section; and
a position measurement section for measuring the photographing position and photographing posture of the image acquisition section or position of the photographed object based on the feature point to be processed selected with the feature point selection section. - View Dependent Claims (8, 10, 12, 14, 18, 20, 24, 28, 32, 36)
-
-
37. A position measuring method comprising:
-
An image acquisition step, with an image acquisition section, of acquiring a series of photographed images changing continuously or changing little by little along with position displacement relative to an object to be photographed;
a positional relationship measurement step of measuring position displacement and posture change of the image acquisition section;
a feature extracting step of extracting feature points from photographed images obtained in the image acquisition step;
a feature point tracking step of tracking the feature points by searching corresponding points corresponding to the feature points on a plurality of the photographed images;
an image selection step of selecting images to be processed from the series of photographed images based on a measurement result made with the positional relationship measurement step; and
a position measurement step of measuring the photographing position and photographing posture of the image acquisition section or position of the photographed object based on the images to be processed selected in the image selection step.
-
-
38. A position measuring method comprising:
-
an image acquisition step, with an image acquisition section, of acquiring a series of photographed images changing continuously or little by little along with position displacement relative to an object to be photographed;
a positional relationship measurement step of measuring position displacement and posture change of the image acquisition section;
a feature extraction step of extracting feature points from photographed images obtained in the image acquisition step;
a feature point tracking step of tracking the feature points by searching corresponding points corresponding to the feature points on a plurality of the photographed images;
a feature point selection step of selecting feature points to be processed from the feature points extracted from the photographed images based on a measurement result made in the positional relationship measurement step; and
a position measurement step of measuring the photographing position and photographing posture of the image acquisition section based on the feature points to be processed selected in the feature point selection step.
-
-
39. A position measuring method comprising:
-
an image acquisition step of acquiring a series of photographed images changing continuously or little by little along with position displacement relative to an object to be photographed;
a positional relationship measurement step of measuring position displacement and posture change of the object to be photographed;
a feature extraction step of extracting feature points from the photographed images obtained in the image acquisition step;
a feature point tracking step of tracking the feature points by searching corresponding points corresponding to the feature points on a plurality of the photographed images;
an image selection step of selecting images to be processed from the series of photographed images based on a measurement result made in the positional relationship measurement step; and
a position measurement step of measuring the photographing position and the photographing posture of the image acquisition section or the position of the photographed object based on the images to be processed selected in the image selection step.
-
-
40. A position measuring method comprising:
-
an image acquisition step of acquiring a series of photographed images changing continuously or little by little along with position displacement relative to an object to be photographed;
a positional relationship measurement step of measuring position displacement and posture change of the object to be photographed;
a feature extraction step of extracting feature points from the photographed images obtained in the image acquisition step;
a feature point tracking step of tracking the feature points by searching corresponding points corresponding to the features points on a plurality of the photographed images;
a feature point selection step of selecting feature points to be processed from the feature points extracted from the photographed images based on a measurement result made in the positional relationship measurement step; and
a position measurement step of measuring the photographing position and photographing posture of the image acquisition section or the position of the photographed object based on the feature points to be processed selected in the feature point selection step.
-
Specification